Quote Originally Posted by Marquis2988 View Post
Whenever I read someones post they say how they've laid really still and or did a load of extra stuff in order to have a lucid dream.
This is a WILD, a wake induced lucid dream. This occurs when a person passes from the waking state to the dream state without fully losing awareness, essentially to pass directly into a lucid dream.

What you're describing having experienced is called a DILD, a dream induced lucid dream. This occurs when you fall asleep and enter a dream normally, and then during the dream become aware that you're dreaming.